CN209598415U - Series parallel type heavy duty Friction Stir Welding robot - Google Patents
Series parallel type heavy duty Friction Stir Welding robot Download PDFInfo
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- CN209598415U CN209598415U CN201920215410.6U CN201920215410U CN209598415U CN 209598415 U CN209598415 U CN 209598415U CN 201920215410 U CN201920215410 U CN 201920215410U CN 209598415 U CN209598415 U CN 209598415U
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Abstract
The utility model discloses a kind of series parallel type heavy duty Friction Stir Welding robots, including pedestal, revolving platform, lifting device, transfer platform, parallel operation arm, two-freedom pose_adjuster and Friction Stir Welding head.Revolving platform, lifting device are respectively used to adjust the angle of revolution of stirring-head and height in Friction Stir Welding head, elastic displacement and the pitch angle of stirring-head is adjusted in parallel operation arm, swing angle and the pitch angle of stirring-head is adjusted in two-freedom pose_adjuster, and pedestal is also mountable to realize horizontal transverse movement on the horizontal guide rail.The utility model has six degrees of freedom of motion, and not only freedom of motion is more, and has the distinguishing features such as working space is big, workload is big, precision is high and low energy consumption, can meet the Friction Stir Welding need of work of large scale spatial complex curved surface component.The utility model also has many advantages, such as compact-sized, and equipment occupation space is small, at low cost, highly-safe, simple and convenient operation and maintenance.
Description
Technical field
The utility model belongs to automatic welding device technical field, in particular to a kind of series parallel type heavy duty Friction Stir Welding
Robot.
Background technique
Friction Stir Welding technology is a kind of solid phase joining technique that welding institute, Britain invented in 1991, and conventional fused
Connector defect is few, quality is high, deformation is small and the remarkable advantages such as welding process green non-pollution compared to having for weldering, in aviation boat
It, ship, nuclear industry, the fields of industrial manufacturing such as communications and transportation have broad application prospects.
Friction stir welding machine device people system can shield artificial interference, effectively improve the intelligent journey of Friction Stir Welding
Degree, production efficiency and quality stability.What agitating friction soldering equipment was widely used at present mainly has planer-type, cantilevered and c-type
Friction Stir Welding equipment mainly meets straight line or planar welding requirements, and the range of work is extremely limited, is not applied for big
The agitating friction of type spatial complex curved surface structural member welds.Therefore, the structure that need to change traditional agitating friction soldering equipment, is protecting it
It holds and increases working space under bearing capacity and required precision.
The characteristics of based on agitating friction weldering, welding equipment are primarily subjected to welding forging force in the welding process and advance anti-
Power, therefore it is required that agitating friction equipment has the characteristics that rigidity is high, bearing torque is big.Currently, robot agitating friction weldering still office
It is limited to install the form of agitating friction weldering end effector additional in conventional tandem robot, however its rigidity is lower, is stirring
Under the welding active force of friction welding (FW), tandem robot deficient in stability, cause robot agitating friction weld solderable thickness with
Welding precision is restricted, therefore limits its industrial application.Although in addition, the rigidity and essence of friction stir welding machine device people in parallel
Degree is high, but flexibility is lower, and working space is small, is unable to satisfy the welding needs of large and complex structure.For large scale, big thickness
The Friction Stir Welding of degree, complex structural member, tandem robot or parallel manipulator can not ideally meet Welder per capita
Make demand.
The agitating friction weldering of the complex-curved structural member of large space, especially thicker workpiece requires welding equipment to have Gao Gang
The features such as property, high bearing capacity, high-precision, big high flexibility and working space.Existing robot architecture, which is unable to satisfy, to be stirred
Friction welding requirements of one's work are mixed, application of the agitating friction welding technology on the complex-curved structural member of large space is limited, because
And there is an urgent need to develop while having tandem robot and the stirring of the New-type mixed-coupled structure of parallel robot structural advantages to rub
Wipe welding robot.
For some technical problems existing for existing Friction Stir Welding equipment, part researcher proposes some solution party
Case.Application No. is 201710859622.3 Chinese invention patents to disclose a kind of heavily loaded friction stir welding machine device people, is by two
A more parallel constructed machine people is cascaded step by step, forms while having the series-parallel robot of series connection and feature in parallel.It should
Though the series-parallel robot in technical solution has both, serial manipulator flexibility is high, working space is big and parallel robot rigidity
Advantage high, precision is high, bearing capacity is strong, stability is good, but its structure is excessively complicated, control is difficult, and energy consumption and cost compared with
It is high.A kind of Friction Stir Welding device is disclosed application No. is 201810059766.5 Chinese invention patents, including rack, dynamic flat
Platform and the parallel institution being made of three branches, parallel institution are 3PRS structure, and parallel institution is installed in series again to water
On the sliding rail that plain cloth is set, so that it rotates totally four freedom of motion for two with the translation of two, space, it is primarily adapted for use in large size
Rocket fuel tank cylinder section girth welding.Application No. is 201810515617.5 Chinese invention patents to disclose a kind of hard and soft association
Friction welding apparatus is mixed, including welding robot, the stirring-head that welding robot bottom is arranged in, workbench and is in
Hexagonal angle degree is uniformly arranged on three groups of flexible cable mechanisms around workbench, realizes welding robot by adjusting flexible cable mechanism
The adjustment of position, rigidity and machining accuracy with higher are unable to satisfy the requirement of heavily loaded operation, and its control needs to rely on three
Group flexible cable mechanism, reduces the flexibility of weld job, working space is also restrained.Application No. is 201810090007.5
Chinese invention patent proposes a kind of friction stir weld device of large-sized sheet material, including benchmark mechanism, the vertical frame in left and right, left and right compression
Mechanism, vertical shift frame, crane and agitating friction soldering tip etc. position workpiece by datum plate, are appropriate only for large-sized sheet material
Friction Stir Welding, be unable to satisfy the welding needs of other complex structural members.Zou of University On The Mountain Of Swallows devises at, Zheng Kuijing etc.
There is movement of two, space one to rotate totally three for a kind of freedom degree parallel connection Friction Stir Welding robot of 2UPR-UPS structure
A freedom of motion solves the problems, such as that welding equipment rigidity of structure difference and precision are low, but its freedom of motion is few, working space
Small, application is limited.
When using Friction Stir Welding thickness structural member, due to the frictional force between stirring-head and welding material in welding process
Biggish torque is generated, and conventional tandem robot architecture's rigidity is inadequate, can generate flexible deformation in the welding process, thus
Influence welding track precision.The rigidity for merely increasing tandem robot, must improve the tonnage of robot, cause entire
The weight of welding system greatly increases.Meanwhile conventional serial robot architecture can make the deviation accumulation of each kinematic pair, and error
It can not eliminate, also will affect the welding precision of welding robot.Merely using existing parallel institution also because of its limited working space
And it can not directly use.Therefore, it is necessary to the actual needs according to Friction Stir Welding to develop a kind of series parallel type heavy duty agitating friction
Welding robot.
Summary of the invention
The purpose of this utility model is in view of the deficiencies of the prior art, to provide a kind of series parallel type heavy duty Friction Stir Welding machine
Device people can adapt to the complex-curved structural member of large space, and the agitating friction of especially thicker workpiece, which welds, to be required, and have preferable
Stability, and meet requirement of the smaller space to equipment flexibility, the precision and reliability of Friction Stir Welding are improved, reduction is set
It prepares and makes and use cost, can overcome the deficiencies of existing technologies.
Technical problem to be solved in the utility model is realized using following technical scheme.
A kind of series parallel type heavy duty Friction Stir Welding robot, including pedestal, revolving platform, lifting device, transfer platform, simultaneously
Join working arm, two-freedom pose_adjuster and Friction Stir Welding head.Wherein, the bottom of the revolving platform is fixedly mounted on
On pedestal, the bottom of the lifting device is fixedly mounted on the top of revolving platform, the top of the lifting device and switching
The bottom of platform is connected, and the rear end of the parallel operation arm is fixedly mounted on transfer platform, the two-freedom posture adjustment
Mechanism is fixedly mounted on the front end of parallel operation arm, and the Friction Stir Welding head is by two-freedom pose_adjuster and simultaneously
Connection working arm is connected.
The revolving platform for realizing lifting device, transfer platform, parallel operation arm rotary motion, the revolution
Platform includes revolving bed, revolving body, ring gear, driving gear and turning motor.Wherein, the bottom of the revolving bed passes through screw
It is fixedly mounted at the top of the base, for installing, supporting revolving body and turning motor；The revolving body rises for being fixedly mounted
Falling unit simultaneously exports the rotary motion of revolving platform, passes through thrust bearing, transverse bearing between the revolving body and revolving bed
It is connected；The ring gear is fixedly mounted on the inside of revolving body by screw, and nibbles in ring gear and driving gear holding
It closes, for the rotation of gear and turning motor will to be driven to pass to revolving body；The turning motor is fixedly mounted by screw
In revolving bed, power is provided for the rotation of revolving body；The driving gear is fixedly mounted on the output shaft of turning motor,
And it is connected with the output shaft of turning motor by flat key.
The lifting device adjusts Friction Stir Welding machine for driving transfer platform and parallel operation arm to go up and down
The working depth of head.The lifting device includes the first lifting column, the first guide post, the second lifting column, the second guiding
Column and middle connecting plate.Wherein, the first lifting column and the second lifting column are the elevating movement driving element of lifting device, for driving
Dynamic transfer platform lifting；First guide post and the second guide post are non-driven element, only act the rigidity of structure for improving lifting device
With the effect of stability；First lifting column, the first guide post, the second lifting column and the second guide post are arranged symmetrically in revolution
The top of body, and its bottom passes through screw and is connected with revolving body；The middle connecting plate be fixedly mounted on the first lifting column,
The middle part of first guide post, the second lifting column and the second guide post, and with the first lifting column, the first guide post, second liter
Drop column, the second guide post are connected by screw.First guide post includes guide sleeve and guide rod, the guide rod with
Guide sleeve is connected by cylindrical pair；Second guide post is identical with the structure of the first guide post.First lifting column, second liter
It drops column and uses double acting servo hydraulic cylinder or DC servo electric pushrod.
The transfer platform includes being horizontally mounted seat, tilt mount and U-shaped beam, is used to support, installs parallel operation
Arm.It sets in the bottom for being horizontally mounted seat there are four the tubular attachment base that is arranged symmetrically, in the described seat that is horizontally mounted
Bottom rear is additionally provided with two lower ear bases being arranged symmetrically, and sets that there are two be arranged symmetrically at the top of the tilt mount
Upper ear seat, the U-shaped beam are located at the top of tilt mount, and are connected between the upper ear seat of tilt mount by screw
It connects.Four tubular attachment bases respectively with the first lifting column, the first guide post, the second lifting column, the second guide post top
It is connected.
The parallel operation arm is the main support mechanism of Friction Stir Welding head, for driving Friction Stir Welding
Head realizes elastic and pitching.The parallel operation arm includes first straight line slide unit, second straight line slide unit, third
Straight line slide unit, duplex rotation seat, lower rotation seat and end moving platform.Wherein, first straight line slide unit, second straight line slide unit are located at the
The top of three straight line slide units and lower rotation seat, first straight line slide unit, the front end of second straight line slide unit and end moving platform lead to respectively
Hinge is connected before hinge, second before crossing first, and the sliding block of first straight line slide unit, the sliding block of second straight line slide unit and duplex rotate
Seat is connected by hinge after hinge, second after first respectively；The front end of the third straight line slide unit and end moving platform are logical
Hinge is connected before crossing third, and the sliding block of the third straight line slide unit is connected with lower rotation seat by hinge after third；Institute
The duplex rotation seat stated is mounted on the top of tilt mount, and the both ends of the duplex rotation seat and tilt mount is upper
Ear mount is connected by upper swing hinge；The lower rotation seat is mounted on the lower end for being horizontally mounted seat, and the lower rotation
The both ends of seat are connected with the lower ear base for being horizontally mounted seat by lower swing hinge.Before first before hinge, second after hinge, first
The axis of hinge is parallel to each other after hinge, second, and the axis perpendicular with upper swing hinge；Hinge, lower swing hinge before third
The axis of chain is parallel to each other, and the axis perpendicular with hinge after third；The axis of hinge is perpendicular to hinge before third before first
Axis.First driving motor, the second driving motor and third driving motor are respectively and fixedly installed to first straight line slide unit, second
The rear end of straight line slide unit and third straight line slide unit, respectively first straight line slide unit, second straight line slide unit and third straight line slide unit
Straight reciprocating provides power.
The two-freedom pose_adjuster is the two-freedom serial mechanism that there is space bidimensional to rotate, and can drive stirring
Friction welding head realizes rotation and pitching around horizontal axis.The two-freedom pose_adjuster includes horizontal hunting
Motor, u-bracket and pitching push rod.Wherein, the horizontal hunting motor is fixedly mounted on end moving platform by screw
On rear end face, power is provided around the rotation of horizontal axis for u-bracket and Friction Stir Welding head；The u-bracket
Rear end is fixedly mounted on the output flange of horizontal hunting motor by screw, is used to support, is installed Friction Stir Welding head
With pitching push rod；The Friction Stir Welding head is fixedly mounted on the front end of u-bracket, and passes through first with u-bracket
End hinge is connected；The pitching push rod is mounted in u-bracket, for driving Friction Stir Welding head to realize pitching
It swings, the middle part of the pitching push rod is connected by second end hinge with u-bracket, the upper end of the pitching push rod
It is connected by third end hinge with the rear end of Friction Stir Welding head.
The Friction Stir Welding head is the end that Friction Stir Welding robot executes Friction Stir Welding task
Executive device, the Friction Stir Welding head includes high-speed electric main shaft and stirring-head.Wherein, the high-speed electric main shaft
Lower end is connected with u-bracket by first end hinge, and the rear end of high-speed electric main shaft and the upper end of pitching push rod pass through third
End hinge is connected；The stirring-head is fixedly mounted on the output end of high-speed electric main shaft.
More preferably, when the horizontal size of weld seam on welded part is larger, the pedestal of the utility model can be mounted on
On horizontal guide rail, and installation horizontal drive motor and gear and rack teeth mechanism, horizontal drive motor pass through rack-and-pinion in pedestal
Mechanism drives pedestal along the reciprocating movement of horizontal guide rail, has the function of the utility model laterally mobile over long distances, to meet
The needs of the long weld seam welding of horizontal direction.
From the point of view of theory of mechanisms, the parallel operation arm of the utility model and transfer platform constitute a 3UPR structure and
Online structure has and is moved forward and backward and two freedom of motion of pitching.The parallel operation arm of the utility model and 3UPS or
The parallel institution of 2UPR-UPS structure is compared, and the rigidity of structure is bigger, and stability is good, more suitable for heavy load Friction Stir Welding
Requirements of one's work.The parallel operation arm and revolving platform, lifting device, two-freedom pose_adjuster and horizontal guide rail string of parallel-connection structure
The six degree of freedom hybrid mechanism with redundant degree of freedom is constituted after connection together, redundant degree of freedom is mainly the pitching of stirring-head
It swings, the purpose is to increase flexibility ratio when stirring-head work.
In use, first fixing welded part, then it is according to the size selection of the cross weld of welded part
It is no to need that pedestal is driven to move back and forth on the horizontal guide rail；The height of transfer platform is adjusted according to the height dimension of welded part
Degree, and the stroke by adjusting the first lifting column, the second lifting column adjusts the height of transfer platform；According to soldered work
The size of the front-rear direction weld seam of part adjusts the posture in parallel operation arm, passes through the first driving motor of driving, the second driving electricity
Machine and third driving motor realize the adjustment of end moving platform posture.Pass through the horizontal hunting motor in two-freedom pose_adjuster
The angle that swings for adjusting Friction Stir Welding head adjusts the tilt angle of stirring-head by pitching push rod.Parallel operation
The whole angle of arm and Friction Stir Welding head can be adjusted by revolving platform.Revolving platform, lifting device, parallel operation arm
The final carriage of stirring-head is determined with two-freedom pose_adjuster synergic adjustment.
The utility model has the beneficial effects that compared with prior art, the stirring-head of the utility model not only moves certainly
It is more by spending, there is space six degrees of freedom of motion, and working space is big, can meet the stirring of large scale spatial complex curved surface component
Friction welding need of work；Compared with the Friction Stir Welding equipment of conventional serial structure, also have that workload is big, precision is high
With the distinguishing features such as low energy consumption.In addition, also there is the utility model structure section to gather, equipment occupation space is small, at low cost, safety
It the advantages that height, simple and convenient operation and maintenance, can overcome the deficiencies of existing technologies.
Detailed description of the invention
Fig. 1 is overall structure (being free of horizontal guide rail) schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the revolving platform of the utility model；
Fig. 3 is the structural schematic diagram of the transfer platform of the utility model；
Fig. 4 is the structural schematic diagram of the parallel operation arm of the utility model；
Fig. 5 is the stirring-head and two-freedom pose_adjuster assembly relation schematic diagram of the utility model；
Fig. 6 is the working state schematic representation of the utility model.
Specific embodiment
In order to which the technical means, creative features, achievable purpose and effectiveness for realizing the utility model are easy to understand,
It combined with specific embodiments below and illustrates, the utility model is further described.
As shown in Fig. 1, Fig. 4 and Fig. 6, a kind of series parallel type heavy duty Friction Stir Welding robot, including pedestal 1, revolving platform
2, lifting device 3, transfer platform 4, parallel operation arm 5, two-freedom pose_adjuster 6 and Friction Stir Welding head 7.Wherein,
The bottom of the revolving platform 2 is fixedly mounted on pedestal 1, and the bottom of the lifting device 3 is fixedly mounted on revolving platform 2
Top, the top of the lifting device 3 and the bottom of transfer platform 4 are connected, the fixed peace in the rear end of the parallel operation arm 5
On transfer platform 4, the two-freedom pose_adjuster 6 is fixedly mounted on the front end of parallel operation arm 5, the stirring
Friction welding head 7 is connected by two-freedom pose_adjuster 6 with parallel operation arm 5.
As shown in figs. 1,2 and 6, the revolving platform 2 is for realizing lifting device 3, transfer platform 4, parallel operation
The rotary motion of arm 5, the revolving platform 2 include revolving bed 21, revolving body 22, ring gear 25, driving gear 26 and revolution electricity
Machine 27.Wherein, the bottom of the revolving bed 21 is fixedly mounted on the top of pedestal 1 by screw, for installing, supporting revolution
Body 22 and turning motor 27；The revolving body 22 is for being fixedly mounted the lifting device 3 and rotary motion of revolving platform 2 is defeated
Out, it is connected between the revolving body 22 and revolving bed 21 by thrust bearing 23, transverse bearing 24；The ring gear 25
The inside of revolving body 22 is fixedly mounted on by screw, and ring gear 25 and driving gear 26 keep internal messing, for that will drive
The rotation of gear 26 and turning motor 27 passes to revolving body 22；The turning motor 27 is fixedly mounted on revolution by screw
In seat 21, the rotation for revolving body 22 provides power；The driving gear 26 is fixedly mounted on the output shaft of turning motor 27
On, and be connected with the output shaft of turning motor 27 by flat key.
As shown in figures 1 to 6, the lifting device 3 is for driving transfer platform 4 and parallel operation arm 5 to go up and down, in turn
Adjust the working depth of Friction Stir Welding head 7.The lifting device 3 includes the first lifting column 31, the first guide post
32, the second lifting column 33, the second guide post 34 and middle connecting plate 35.Wherein, the first lifting column 31, the second lifting column 33 are
The elevating movement driving element of lifting device 3, for driving transfer platform 4 to go up and down；First guide post 32 and the second guide post 34
For non-driven element, only act the rigidity of structure and stability that improve lifting device 3；First lifting column 31, first are led
The top of revolving body 22 is arranged symmetrically in column 32, the second lifting column 33 and the second guide post 34, and its bottom passes through spiral shell
Nail is connected with revolving body 22；The middle connecting plate 35 is fixedly mounted on the first lifting column 31,32, second liters of the first guide post
Drop column 33 and the second guide post 34 middle part, and with the first lifting column 31, the first guide post 32, the second lifting column 33,
Second guide post 34 is connected by screw.First guide post 32 includes guide sleeve 321 and guide rod 322, and described leads
Bar 322 is connected with guide sleeve 321 by cylindrical pair；The complete phase of structure of second guide post 34 and the first guide post 32
Together.First lifting column 31, the second lifting column 33 are all made of double acting servo hydraulic cylinder or DC servo electric pushrod.
As shown in Fig. 1, Fig. 3 and Fig. 6, the transfer platform 4 includes being horizontally mounted seat 41, tilt mount 42 and U-shaped
Beam 43 is used to support, installs parallel operation arm 5.The cylinder being arranged symmetrically there are four being set in the bottom for being horizontally mounted seat 41
Shape attachment base 411 is additionally provided with two lower ear bases being arranged symmetrically 412 in the bottom rear for being horizontally mounted seat 41, in institute
The top for the tilt mount 42 stated is set there are two the upper ear seat 421 being arranged symmetrically, and the U-shaped beam 43 is located at tilt mount
42 top, and be connected between the upper ear seat of tilt mount 42 421 by screw.Four tubular attachment bases 411 are distinguished
It is connected with the top of the first lifting column 31, the first guide post 32, the second lifting column 33, the second guide post 34.Described inclines
Oblique mounting base 42 is 30 ° -60 ° with the angular range for being horizontally mounted seat 41
As shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 6, the parallel operation arm 5 is the main support of Friction Stir Welding head 7
Mechanism, for driving Friction Stir Welding head 7 to realize elastic and pitching.The parallel operation arm 5 includes the
One straight line slide unit 51, second straight line slide unit 52, third straight line slide unit 53, duplex rotation seat 54, lower rotation seat 55 and end are dynamic flat
Platform 56.Wherein, first straight line slide unit 51, second straight line slide unit 52 are located at the top of third straight line slide unit 53 and lower rotation seat 55,
Before first straight line slide unit 51, the front end of second straight line slide unit 52 and end moving platform 56 pass through first respectively before hinge 561, second
Hinge 562 is connected, and the sliding block of first straight line slide unit 51, the sliding block of second straight line slide unit 52 and duplex rotation seat 54 pass through respectively
Hinge 542 is connected after hinge 541, second after first；The front end of the third straight line slide unit 53 and end moving platform 56 are logical
Hinge 563 is connected before crossing third, and the sliding block and lower rotation seat 55 of the third straight line slide unit 53 pass through hinge 551 after third
It is connected；The duplex rotation seat 54 is mounted on the top of tilt mount 42, and the both ends of the duplex rotation seat 54
It is connected with the upper ear seat 421 of tilt mount 42 by upper swing hinge 543；The lower rotation seat 55 is mounted on horizontal peace
The lower end of seat 41 is filled, and the both ends of the lower rotation seat 55 pass through lower swing hinge with the lower ear base 412 for being horizontally mounted seat 41
552 are connected.The axis of hinge 542 is mutually flat after hinge 541, second after hinge 562, first before hinge 561, second before first
Row, and the axis perpendicular with upper swing hinge 543；Hinge 563 before third, lower swing hinge 552 axis be parallel to each other, and
With the axis perpendicular of hinge 551 after third；Axis of the axis of hinge 561 perpendicular to hinge 563 before third before first.First
Driving motor 511, the second driving motor 521 and third driving motor 531 are respectively and fixedly installed to first straight line slide unit 51, second
The rear end of straight line slide unit 52 and third straight line slide unit 53, respectively first straight line slide unit 51, second straight line slide unit 52 and third are straight
The straight reciprocating of line slide unit 53 provides power.
As shown in Fig. 1, Fig. 5 and Fig. 6, the two-freedom pose_adjuster 6 is two freedom that there is space bidimensional to rotate
Serial mechanism is spent, Friction Stir Welding head 7 can be driven to realize rotation and pitching around horizontal axis.Described two are freely
Spending pose_adjuster 6 includes horizontal hunting motor 61, u-bracket 62 and pitching push rod 63.Wherein, the horizontal hunting motor 61
It is fixedly mounted on by screw on the rear end face of end moving platform 56, is u-bracket 62 and Friction Stir Welding head 7 around level
The rotation of axis provides power；The rear end of the u-bracket 62 is fixedly mounted on the defeated of horizontal hunting motor 61 by screw
It out on flange, is used to support, Friction Stir Welding head 7 and pitching push rod 63 is installed；The Friction Stir Welding head 7 is solid
Dingan County is mounted in the front end of u-bracket 62, and is connected with u-bracket 62 by first end hinge 761；The pitching push rod
63 are mounted in u-bracket 62, for driving Friction Stir Welding head 7 to realize pitching, the pitching push rod 63
Middle part is connected by second end hinge 631 with u-bracket 62, and the upper end of the pitching push rod 63 is cut with scissors by third end
Chain 632 is connected with the rear end of Friction Stir Welding head 7.
As shown in Fig. 1, Fig. 5 and Fig. 6, the Friction Stir Welding head 7 is that the execution of Friction Stir Welding robot is stirred
The end executive device of friction welding task is mixed, the Friction Stir Welding head 7 includes high-speed electric main shaft 71 and stirring-head
72.Wherein, the lower end of the high-speed electric main shaft 71 is connected with u-bracket 62 by first end hinge 761, the height
The rear end of fast electro spindle 71 is connected with the upper end of pitching push rod 63 by third end hinge 632；The stirring-head 72 is solid
Dingan County is mounted in the output end of high-speed electric main shaft 71.
As shown in fig. 6, further, it, can be practical new by this when the horizontal size of weld seam on welded part is larger
The pedestal 1 of type is mounted on horizontal guide rail 8, and horizontal drive motor and gear and rack teeth mechanism, horizontal drive are installed in pedestal 1
Motor drives pedestal 1 along the reciprocating movement of horizontal guide rail 8 by gear and rack teeth mechanism, has the utility model laterally over long distances
Mobile function, to meet the needs of the long weld seam welding of horizontal direction.
Turning motor 27, horizontal hunting motor 61 use servo deceleration motor；First driving motor 511, second driving electricity
Machine 521 and third driving motor 531 are all made of DC servo motor；The pitching push rod 63 uses servo-electric push rod.
In use, first fixing welded part, then it is according to the size selection of the cross weld of welded part
It is no to need that pedestal 1 is driven to move back and forth on horizontal guide rail 8；Transfer platform 4 is adjusted according to the height dimension of welded part
Highly, and the stroke by adjusting the first lifting column 31 in lifting device 3, the second lifting column 33 adjusts transfer platform 4
Height；The posture in parallel operation arm 5 is adjusted according to the size of the front-rear direction weld seam of welded part, passes through driving first
Driving motor 511, the second driving motor 521 and third driving motor 531 realize the adjustment of 56 posture of end moving platform.Pass through two
Horizontal hunting motor 61 in freedom degree pose_adjuster 6 adjusts the angle that swings of Friction Stir Welding head 7, passes through pitching
The tilt angle of the adjusting stirring-head 72 of push rod 63.The whole angle of parallel operation arm 5 and Friction Stir Welding head 7 can be by returning
Turntable 2 is adjusted.Revolving platform 2, lifting device 3, parallel operation arm 5 and the determination of 6 synergic adjustment of two-freedom pose_adjuster are stirred
Mix first 72 final carriage.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear" "top", "bottom",
The orientation or positional relationship of the instructions such as "inner", "outside", " transverse direction " be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for describing the utility model and simplifying description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
The basic principles and main features and advantage of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this
The principle of utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also has various change
And improvement, these various changes and improvements fall within the scope of the claimed invention.The utility model requires protection scope
It is defined by the appending claims and its equivalent thereof.
Claims (7)
1. a kind of series parallel type heavy duty Friction Stir Welding robot, including pedestal, revolving platform, lifting device, transfer platform, parallel connection
Working arm, two-freedom pose_adjuster and Friction Stir Welding head, it is characterised in that: the fixed peace in the bottom of the revolving platform
On pedestal, the bottom of the lifting device is fixedly mounted on the top of revolving platform, the top of the lifting device with
The bottom of transfer platform is connected, and the rear end of the parallel operation arm is fixedly mounted on transfer platform, the two-freedom
Pose_adjuster is fixedly mounted on the front end of parallel operation arm, and the Friction Stir Welding head passes through two-freedom pose_adjuster
It is connected with parallel operation arm；
The revolving platform includes revolving bed, revolving body, ring gear, driving gear and turning motor, the bottom of the revolving bed
Portion is fixedly mounted at the top of the base by screw, passes through thrust bearing, transverse bearing between the revolving body and revolving bed
It is connected, the ring gear is fixedly mounted on the inside of revolving body by screw, and nibbles in ring gear and driving gear holding
It closes, the turning motor is fixedly mounted in revolving bed by screw, and the driving gear is fixedly mounted on turning motor
Output shaft on, and be connected with the output shaft of turning motor by flat key；
The lifting device includes the first lifting column, the first guide post, the second lifting column, the second guide post and middle company
Plate, the first lifting column and the second lifting column are the elevating movement driving element of lifting device, and the first lifting column, first are led
Xiang Zhu, the second lifting column and the second guide post are arranged symmetrically in the top of revolving body, and its bottom passes through screw and revolution
Body is connected, and the middle connecting plate is fixedly mounted on the first lifting column, the first guide post, the second lifting column and the second guiding
The middle part of column, and be connected by screw with the first lifting column, the first guide post, the second lifting column, the second guide post；
First guide post includes guide sleeve and guide rod, and the guide rod is connected with guide sleeve by cylindrical pair, the second guide post with
The structure of first guide post is identical；
The transfer platform includes being horizontally mounted seat, tilt mount and U-shaped beam, is set in the bottom for being horizontally mounted seat
There are four the tubular attachment bases being arranged symmetrically, and are additionally provided with two lower ears being arranged symmetrically in the bottom rear that is horizontally mounted
Seat is set at the top of the tilt mount there are two the upper ear seat being arranged symmetrically, and the U-shaped beam is located at tilt mount
Top, and be connected between the upper ear seat of tilt mount by screw；Four tubular attachment bases are gone up and down with first respectively
Column, the first guide post, the second lifting column, the top of the second guide post are connected；
The two-freedom pose_adjuster includes horizontal hunting motor, u-bracket and pitching push rod, the horizontal hunting electricity
Machine is fixedly mounted on the rear end face of end moving platform of parallel operation arm by screw；The rear end of the u-bracket passes through
Screw is fixedly mounted on the output flange of horizontal hunting motor, and the Friction Stir Welding head is fixedly mounted on U-shaped branch
The front end of frame, and be connected with u-bracket by first end hinge；The pitching push rod is mounted in u-bracket, described
The middle part of pitching push rod be connected by second end hinge with u-bracket, the upper end of the pitching push rod passes through third
End hinge is connected with the rear end of Friction Stir Welding head；
The Friction Stir Welding head includes high-speed electric main shaft and stirring-head, the lower end of the high-speed electric main shaft with it is U-shaped
Bracket is connected by first end hinge, and the rear end of the high-speed electric main shaft and the upper end of pitching push rod pass through third end
Hinge is connected；The stirring-head is fixedly mounted on the output end of high-speed electric main shaft.
2. a kind of series parallel type heavy duty Friction Stir Welding robot according to claim 1, it is characterised in that: it is described and
Joining working arm includes first straight line slide unit, second straight line slide unit, third straight line slide unit, duplex rotation seat, lower rotation seat and end
Moving platform, first straight line slide unit, second straight line slide unit are located at the top of third straight line slide unit and lower rotation seat, and first straight line is sliding
Platform, second straight line slide unit front end pass through first respectively with end moving platform before before hinge, second hinge be connected, first straight line
Hinge is connected after hinge, second after the sliding block of slide unit, the sliding block of second straight line slide unit pass through first respectively with duplex rotation seat；
The front end of the third straight line slide unit is connected with end moving platform by hinge before third, the third straight line slide unit
Sliding block is connected with lower rotation seat by hinge after third；The duplex rotation seat is mounted on the top of tilt mount, and
The both ends of the duplex rotation seat are connected with the upper ear seat of tilt mount by upper swing hinge；The lower rotation seat
It is mounted on the lower end for being horizontally mounted seat, and the both ends of the lower rotation seat are cut with scissors with the lower ear base for being horizontally mounted seat by lower swing
Chain is connected；First driving motor, the second driving motor and third driving motor are respectively and fixedly installed to first straight line slide unit,
The rear end of two straight line slide units and third straight line slide unit.
3. a kind of series parallel type heavy duty Friction Stir Welding robot according to claim 2, it is characterised in that: described
The axis of hinge is parallel to each other after hinge, second after hinge, first before the axis of hinge and second before one, and with upper swing hinge
Axis perpendicular；Hinge before third, lower swing hinge axis be parallel to each other, and the axis perpendicular with hinge after third；
Axis of the axis of hinge perpendicular to hinge before third before first.
4. a kind of series parallel type heavy duty Friction Stir Welding robot according to claim 1, it is characterised in that: described inclines
Oblique mounting base is 30 ° -60 ° with the angular range for being horizontally mounted seat.
5. a kind of series parallel type heavy duty Friction Stir Welding robot according to claim 1, it is characterised in that: revolution electricity
Machine, horizontal hunting motor use servo deceleration motor, and the pitching push rod uses servo-electric push rod.
6. a kind of series parallel type heavy duty Friction Stir Welding robot according to claim 2, it is characterised in that: the first driving
Motor, the second driving motor and third driving motor are all made of DC servo motor.
7. a kind of series parallel type heavy duty Friction Stir Welding robot according to claim 1, it is characterised in that: the first lifting
Column, the second lifting column are all made of double acting servo hydraulic cylinder or DC servo electric pushrod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920215410.6U CN209598415U (en) | 2019-02-18 | 2019-02-18 | Series parallel type heavy duty Friction Stir Welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920215410.6U CN209598415U (en) | 2019-02-18 | 2019-02-18 | Series parallel type heavy duty Friction Stir Welding robot |
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| CN209598415U true CN209598415U (en) | 2019-11-08 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648188A (en) * | 2019-02-18 | 2019-04-19 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
| CN111347151A (en) * | 2020-03-12 | 2020-06-30 | 天津大学 | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding |
| CN113334357A (en) * | 2021-06-17 | 2021-09-03 | 北京航空航天大学 | Series-parallel robot system and virtual RCM motion control method |
-
2019
- 2019-02-18 CN CN201920215410.6U patent/CN209598415U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648188A (en) * | 2019-02-18 | 2019-04-19 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
| CN109648188B (en) * | 2019-02-18 | 2023-08-22 | 安徽理工大学 | Series-parallel heavy-load friction stir welding robot |
| CN111347151A (en) * | 2020-03-12 | 2020-06-30 | 天津大学 | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding |
| CN113334357A (en) * | 2021-06-17 | 2021-09-03 | 北京航空航天大学 | Series-parallel robot system and virtual RCM motion control method |
| CN113334357B (en) * | 2021-06-17 | 2023-10-03 | 北京航空航天大学 | Series-parallel robot system and virtual RCM motion control method |
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